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CudaSift: switch to SIFT CPU if no cuda devices were found (instead of asserting).

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matlabbe
2024-11-12 15:00:19 -08:00
parent 75ac722996
commit fd27380be7
1 changed files with 11 additions and 4 deletions
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15
corelib/src/Features2d.cpp
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@@ -1271,10 +1271,17 @@ void SIFT::parseParameters(const ParametersMap & parameters)
if(gpu_)
{
#ifdef RTABMAP_CUDASIFT
UDEBUG("Init SiftData");
if(cudaSiftData_ == 0) {
cudaSiftData_ = new SiftData();
InitSiftData(*cudaSiftData_, 8192, true, true);
// Check if there is a cuda device
if(InitCuda(0, ULogger::level() == ULogger::kDebug)) {
UDEBUG("Init SiftData");
if(cudaSiftData_ == 0) {
cudaSiftData_ = new SiftData();
InitSiftData(*cudaSiftData_, 8192, true, true);
}
}
else{
UWARN("No cuda device(s) detected, CudaSift is not available! Using SIFT CPU version instead.");
gpu_ = false;
}
#else
UWARN("RTAB-Map is not built with CudaSift so %s cannot be used!", Parameters::kSIFTGpu().c_str());